Robot hexapods are coming into focus in robotics fields due to their stable base and versatility in handling different terrains. The current study aims at identifying gait patterns to enhance efficiency and stability under dynamic payload conditions. It investigated six payload conditions: no payload, central payload, and four asymmetric payloads, which were front-left and back-left and front-right and back-right. To enable the dynamic modification of gait patterns, Proximal Policy Optimization (PPO), which is a type of reinforcement learning, was used in order to foster efficient and stable forward propulsion. To train and simulate a robot, Brax, an open-source physics simulation environment, was used under different payload conditions. It was shown that gait adaptation to loading distribution is achievable, while bilateral loading causes energy expenditures to grow. The research on hexapod movement is useful in the advancement of the field of bio-inspired robotics; it provides ideas for increasing hexapod mobility with unequal weight loadings and also helps to further extend hexapod robots’ usability.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Gait Pattern Analysis For A Weight Carrying Hexapod Robot Using Reinforcement Learning




    Erscheinungsdatum :

    03.04.2025


    Format / Umfang :

    1086061 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Double-gait hexapod robot and double-gait hexapod robot crawling method

    LIU ZHEN / WANG HUAQIANG | Europäisches Patentamt | 2023

    Freier Zugriff

    Hexapod robot fault-tolerant gait planning method based on reinforcement learning

    WEI WU / ZOU YANGZHONG / LEE DAL-HYUN et al. | Europäisches Patentamt | 2023

    Freier Zugriff


    Four-foot gait walking method of hexapod robot

    WANG BENLIN / MA ZHAO / ZHAO XIAOMIN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Dynamics Modeling and Gait Analysis of Transport-Oriented Hexapod Robot

    Tan, Haoqing / Zhang, Haixu / Wang, Yunting et al. | TIBKAT | 2022